To our knowledge, most VIO works are mainly designed for large-scale environments with decimeter-level tracking accuracy [1]}, [2]}.
The accuracy is primarily determined by visual tracking which is prone to motion blur, although the latter is usually not a significant issue for outdoor environments due to large camera-to-scene distance [3]}, [4]}, [5]}.
These existing methods, however, usually cannot support a centimeter-level fast-motion camera tracking in the case of indoor-level camera-to-scene distance.
Saurer et al. saurer2016sparse additionally considers the rolling shutter effect under fast camera motion. Another line of research uses event camera for fast motion camera tracking [6]}.

